U.S. patent application number 17/009803 was filed with the patent office on 2020-12-24 for distance measuring system, vehicle coupling system, distance measuring method, and non-transitory storage medium.
The applicant listed for this patent is JVCKENWOOD Corporation. Invention is credited to Makoto Kurihara.
Application Number | 20200398840 17/009803 |
Document ID | / |
Family ID | 1000005079800 |
Filed Date | 2020-12-24 |
![](/patent/app/20200398840/US20200398840A1-20201224-D00000.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00001.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00002.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00003.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00004.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00005.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00006.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00007.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00008.png)
![](/patent/app/20200398840/US20200398840A1-20201224-D00009.png)
United States Patent
Application |
20200398840 |
Kind Code |
A1 |
Kurihara; Makoto |
December 24, 2020 |
DISTANCE MEASURING SYSTEM, VEHICLE COUPLING SYSTEM, DISTANCE
MEASURING METHOD, AND NON-TRANSITORY STORAGE MEDIUM
Abstract
A distance measuring system in an electronically coupled vehicle
group in which multiple vehicles are electronically coupled, each
of the multiple vehicles includes a vehicle detection unit
configured to detect, in an adjacent lane adjacent to a lane for
the electronically coupled vehicle group, a first position of a
preceding vehicle traveling in front of the vehicle group and a
first position of a following vehicle traveling behind the vehicle
group, an inter-vehicle communication unit configured to receive a
second position of the preceding vehicle and a second position of
the following vehicle detected by another vehicle among the
multiple vehicles of the vehicle group, and a controller configured
to calculate a distance between the preceding vehicle and the
following vehicle based on the first and the second positions of
the preceding vehicle and the first and the second positions of the
following vehicle.
Inventors: |
Kurihara; Makoto;
(Yokohama-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
JVCKENWOOD Corporation |
Yokohama-shi |
|
JP |
|
|
Family ID: |
1000005079800 |
Appl. No.: |
17/009803 |
Filed: |
September 2, 2020 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
PCT/JP2018/042563 |
Nov 16, 2018 |
|
|
|
17009803 |
|
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 2013/9325 20130101;
G01S 13/931 20130101; B60W 30/165 20130101; G01S 2013/9316
20200101 |
International
Class: |
B60W 30/165 20060101
B60W030/165 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 9, 2018 |
JP |
2018-043415 |
Claims
1. A distance measuring system in an electronically coupled vehicle
group in which multiple vehicles are electronically coupled, each
of the multiple vehicles comprising: a vehicle detection unit
configured to detect, in an adjacent lane adjacent to a lane where
the electronically coupled vehicle group is travelling, a first
position of a preceding vehicle traveling in front of the
electronically coupled vehicle group and a first position of a
following vehicle traveling behind the electronically coupled
vehicle group; an inter-vehicle communication unit configured to
receive a second position of the preceding vehicle and a second
position of the following vehicle detected by another vehicle among
the multiple vehicles of the electronically coupled vehicle group;
and a controller configured to calculate a distance between the
preceding vehicle and the following vehicle based on the detected
first position of the preceding vehicle, the detected first
position of the following vehicle, the received second position of
the preceding vehicle, and the received second position of the
following vehicle.
2. A vehicle coupling system comprising: the multiple vehicles that
include the distance measuring system according to claim 1.
3. The vehicle coupling system according to claim 2, wherein the
controller is further configured to determine whether to allow the
electronically coupled vehicle group to change lanes based on a
total length of the electronically coupled vehicle group and the
distance between the preceding vehicle and the following
vehicle.
4. The vehicle coupling system according to claim 2, wherein the
controller is further configured to adjust an inter-vehicle
distance in the electronically coupled vehicle group based on a
total length of the electronically coupled vehicle group, and the
distance between the preceding vehicle and the following
vehicle.
5. The vehicle coupling system according to claim 2, wherein the
controller is further configured to control a speed of the
electronically coupled vehicle group based on a positional
relationship between a leader vehicle in the electronically coupled
vehicle group, a follower vehicle in the electronically coupled
vehicle group, the preceding vehicle in the adjacent lane, and the
following vehicle in the adjacent lane.
6. The vehicle coupling system according to claim 2, wherein the
controller is further configured to decide a platoon of the
electronically coupled vehicle group based on vehicle
information.
7. The vehicle coupling system according to claim 2, wherein the
controller is further configured to decide a platoon of the
electronically coupled vehicle group according to performance of
the vehicle detection unit provided in each of the multiple
vehicles in the electronically coupled vehicle group.
8. A distance measuring method in an electronically coupled vehicle
group in which multiple vehicles are electronically coupled,
comprising in each of the multiple vehicles: detecting, in an
adjacent lane adjacent to a lane where the electronically coupled
vehicle group is travelling, a first position of a preceding
vehicle traveling in front of the electronically coupled vehicle
group and a first position of a following vehicle traveling behind
the electronically coupled vehicle group; receiving, by an
inter-vehicle communication, a second position of the preceding
vehicle and a second position of the following vehicle detected by
another vehicle among the multiple vehicles of the electronically
coupled vehicle group; and calculating a distance between the
preceding vehicle and the following vehicle based on the detected
first position of the preceding vehicle, the detected first
position of the following vehicle, the received second position of
the preceding vehicle, and the received second position of the
following vehicle.
9. A non-transitory storage medium that sores a computer program
that causes a computer operating as a distance measuring system in
an electronically coupled vehicle group in which multiple vehicles
are electronically coupled, to execute a distance measuring method
comprising in each of the multiple vehicles: detecting, in an
adjacent lane adjacent to a lane where the electronically coupled
vehicle group is travelling, a first position of a preceding
vehicle traveling in front of the electronically coupled vehicle
group and a first position of a following vehicle traveling behind
the electronically coupled vehicle group; receiving, by an
inter-vehicle communication, a second position of the preceding
vehicle and a second position of the following vehicle detected by
another vehicle among the multiple vehicles of the electronically
coupled vehicle group; and calculating a distance between the
preceding vehicle and the following vehicle based on the detected
first position of the preceding vehicle, the detected first
position of the following vehicle, the received second position of
the preceding vehicle, and the received second position of the
following vehicle.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a Continuation of PCT International
Application No. PCT/JP2018/042563 filed in Japan on Nov. 16, 2018,
which claims priority to and incorporates by references the entire
contents of Japanese Patent Application No. 2018-043415 filed in
Japan on Mar. 9, 2018.
FIELD
[0002] The present application relates to a distance measuring
system, a vehicle coupling system, a distance measuring method, and
a non-transitory storage medium.
BACKGROUND
[0003] A technology that allows multiple unmanned vehicles to
travel while following a leader vehicle driven by a driver has been
known.
[0004] For example, Japanese Laid-open Patent Publication No.
2000-311299 A discloses an automatic following traveling system
that can reduce time from when vehicles are electronically coupled
to when the vehicles start a platoon traveling.
SUMMARY
[0005] It is assumed that the automatic following traveling system
disclosed in Patent Literature 1 is applied to cargo transport
vehicles such as trucks. In Japanese Laid-open Patent Publication
No. 2000-311299 A, it is possible to allow the automatic following
traveling system to change lanes easily, by improving measuring
accuracy of a distance between a preceding vehicle that is
traveling in front and a following vehicle that is traveling behind
in an adjacent lane. Consequently, it is possible to allow the
automatic following traveling system to travel more
appropriately.
[0006] A distance measuring system, a vehicle coupling system, a
distance measuring method, and a non-transitory storage medium are
disclosed.
[0007] According to one aspect, there is provided a distance
measuring system in an electronically coupled vehicle group in
which multiple vehicles are electronically coupled, each of the
multiple vehicles comprising: a vehicle detection unit configured
to detect, in an adjacent lane adjacent to a adjacent lane where
the electronically coupled vehicle group is travelling, a first
position of a preceding vehicle traveling in front of the
electronically coupled vehicle group and a first position of a
following vehicle traveling behind the electronically coupled
vehicle group; an inter-vehicle communication unit configured to
receive a second position of the preceding vehicle and a second
position of the following vehicle detected by another vehicle among
the multiple vehicles of the electronically coupled vehicle group;
and a controller configured to calculate a distance between the
preceding vehicle and the following vehicle based on the detected
first position of the preceding vehicle, the detected first
position of the following vehicle, the received second position of
the preceding vehicle, and the received second position of the
following vehicle.
[0008] According to one aspect, there is provided a distance
measuring method in an electronically coupled vehicle group in
which multiple vehicles are electronically coupled, comprising in
each of the multiple vehicles: detecting, in an adjacent lane
adjacent to a lane where the electronically coupled vehicle group
is travelling, a first position of a preceding vehicle traveling in
front of the electronically coupled vehicle group and a first
position of a following vehicle traveling behind the electronically
coupled vehicle group; receiving, by an inter-vehicle
communication, a second position of the preceding vehicle and a
second position of the following vehicle detected by another
vehicle among the multiple vehicles of the electronically coupled
vehicle group; and calculating a distance between the preceding
vehicle and the following vehicle based on the detected first
position of the preceding vehicle, the detected first position of
the following vehicle, the received second position of the
preceding vehicle, and the received second position of the
following vehicle.
[0009] According to one aspect, there is provided a non-transitory
storage medium that sores a computer program that causes a computer
operating as a distance measuring system in an electronically
coupled vehicle group in which multiple vehicles are electronically
coupled, to execute a distance measuring method comprising in each
of the multiple vehicles: detecting, in an adjacent lane adjacent
to a lane where the electronically coupled vehicle group is
travelling, a first position of a preceding vehicle traveling in
front of the electronically coupled vehicle group and a first
position of a following vehicle traveling behind the electronically
coupled vehicle group; receiving, by an inter-vehicle
communication, a second position of the preceding vehicle and a
second position of the following vehicle detected by another
vehicle among the multiple vehicles of the electronically coupled
vehicle group; and calculating a distance between the preceding
vehicle and the following vehicle based on the detected first
position of the preceding vehicle, the detected first position of
the following vehicle, the received second position of the
preceding vehicle, and the received second position of the
following vehicle.
[0010] The above and other objects, features, advantages and
technical and industrial significance of this application will be
better understood by reading the following detailed description of
presently preferred embodiments of the application, when considered
in connection with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIG. 1 is a block diagram illustrating a configuration of a
distance measuring system according to a first embodiment of the
present application.
[0012] FIG. 2 is a diagram for explaining an example of an
operation performed by a vehicle coupling system according to the
first embodiment of the present application.
[0013] FIG. 3 is a diagram illustrating an example of a
configuration of the distance measuring system according to the
first embodiment of the present application.
[0014] FIG. 4 is a diagram illustrating an example of vehicle
information stored in the distance measuring system according to
the first embodiment of the present application.
[0015] FIG. 5 is a flowchart illustrating an example of an
operational flow for configuring the vehicle coupling system
according to the first embodiment of the present application.
[0016] FIG. 6 is a flowchart illustrating an example of an
operational flow performed when the vehicle coupling system
according to the first embodiment of the present application
intends to change lanes.
[0017] FIG. 7 is a flowchart illustrating an example of an
operational flow performed when a vehicle coupling system according
to a second embodiment of the present application intends to change
lanes.
[0018] FIG. 8 is a flowchart illustrating an example of an
operational flow performed when a vehicle coupling system according
to a third embodiment of the present application intends to change
lanes.
[0019] FIG. 9 is a diagram for explaining an example of an
operation performed by a vehicle coupling system according to a
fourth embodiment of the present application.
[0020] FIG. 10 is a flowchart illustrating an example of an
operational flow performed when the vehicle coupling system
according to the fourth embodiment of the present application
intends to change lanes.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0021] Hereinafter, embodiments of the present application will be
described in detail with reference to the accompanying drawings. In
the drawings, the same reference numerals denote the same or
corresponding portions, and the description thereof will be
omitted.
First Embodiment
[0022] A distance measuring system according to a first embodiment
of the present application will be described with reference to FIG.
1, FIG. 2, and FIG. 3. FIG. 1 is a block diagram illustrating a
configuration of a distance measuring system according to the first
embodiment of the present application. FIG. 2 is a diagram for
explaining an example of an operation performed by a vehicle
coupling system. FIG. 3 is a diagram illustrating an example of a
configuration of the distance measuring system according to the
first embodiment of the present application.
[0023] As illustrated in FIG. 1, a distance measuring system 100
includes a vehicle detection unit 110, an inter-vehicle distance
acquisition unit 120, an inter-vehicle communication unit 130, a
storage 140, and a controller 150. In the present embodiment, for
example, the distance measuring system 100 is mounted on a private
car. Multiple private cars mounted with the distance measuring
system 100 are electronically coupled to be in a platoon traveling,
while detecting vehicles in an adjacent lane appropriately.
[0024] The vehicle detection unit 110 detects vehicles traveling in
front and behind in the adjacent lane. For example, the vehicle
detection unit 110 may continuously detect vehicles in the adjacent
lane, or may detect vehicles in the adjacent lane only when the
vehicles in the adjacent lane are desired to be detected. For
example, the vehicle detection unit 110 is a camera for capturing
an image. In this case, the vehicle detection unit 110 captures an
image of vehicles traveling in front and behind in the adjacent
lane. More specifically, the vehicle detection unit 110 detects the
position of vehicles by capturing an image of number plates or the
like attached to the vehicles that are travelling in front and
behind in the adjacent lane.
[0025] FIG. 2 illustrates a case in which two vehicles of a leader
vehicle 11 and a follower vehicle 12 are electronically coupled.
Here, the electronically coupled vehicles are electronically
coupled so as to form a line along a traveling direction of the
vehicles. For example, in a normal traveling state excluding when
the vehicles are to change lanes, to turn left or right, or the
like, the vehicles travel in line in the same lane while keeping a
predetermined inter-vehicle distance. When the vehicles are
electronically coupled, the inter-vehicle distance is controlled
more accurately by sharing acceleration information of the leader
vehicle 11 by using a radar and the inter-vehicle communication
unit 130 mounted on a front of the follower vehicle 12. More
specifically, the follower vehicle 12 automatically travels so as
to follow the leader vehicle 11, while keeping an inter-vehicle
distance d1 from the leader vehicle 11 constant. Consequently, a
vehicle coupling system 200 is formed by the leader vehicle 11 and
the follower vehicle 12. In this case, the vehicle detection unit
110 of the leader vehicle 11 detects a position (a first position)
of a preceding vehicle 21 that is traveling in front of the leader
vehicle 11, and a position (a first position) of a following
vehicle 22 that is traveling behind the follower vehicle 12, in the
adjacent lane. Similarly, the vehicle detection unit 110 of the
follower vehicle 12 detects a position (a second position) of the
preceding vehicle 21 and a position (a second position) of the
following vehicle 22 in the adjacent lane. In other words, the
leader vehicle 11 and the follower vehicle 12 measure a distance L
between the preceding vehicle 21 and the following vehicle 22. The
leader vehicle 11 may be driven by a person, or may be driven
automatically.
[0026] As illustrated in FIG. 3, the vehicle detection unit 110 is
provided on a front and a rear of an exterior of the leader vehicle
11. For example, the vehicle detection unit 110 may be provided
near the number plate of the leader vehicle 11. The vehicle
detection unit 110 may also be provided in an interior of the
leader vehicle 11. The vehicle detection unit 110 may also be
provided in multiple numbers. For example, the vehicle detection
unit 110 may be provided on a front center, a right front, a left
front, a rear center, a right rear, a left rear, a right side, and
a left side of the leader vehicle 11. Because the positions where
the vehicle detection units 110 are to be provided on the follower
vehicle 12 is the same, a description thereof will be omitted.
[0027] The inter-vehicle distance acquisition unit 120 acquires the
distance from the leader vehicle that is electronically coupled.
The inter-vehicle distance acquisition unit 120 acquires the
distance from the leader vehicle to keep the distance constant
between the vehicles that are electronically coupled. In FIG. 2, to
keep the distance between the leader vehicle 11 and the follower
vehicle 12 to d1, the inter-vehicle distance acquisition unit 120
of the follower vehicle 12 acquires the distance between the leader
vehicle 11 and the follower vehicle 12. The inter-vehicle distance
acquisition unit 120 may also be provided on the rear of the leader
vehicle 11, and acquire the inter-vehicle distance from the
follower vehicle 12. For example, the inter-vehicle distance
acquisition unit 120 may be implemented by a millimeter wave
radar.
[0028] The inter-vehicle communication unit 130 performs
inter-vehicle communication with the other vehicle. The
inter-vehicle communication unit 130 performs electronical coupling
with the other vehicle by transmitting and receiving speed
information, positional information, vehicle information, and the
like. Between the vehicles that are electronically coupled, the
inter-vehicle communication unit 130 transmits information on
whether the vehicle is manually driven or automatically driven, to
the other vehicle that is electronically coupled. For example, the
inter-vehicle communication unit 130 transmits the information
detected by the vehicle detection unit 110 to the other vehicle
that is electronically coupled. For example, the inter-vehicle
communication unit 130 may be implemented by a data communication
module (DCM).
[0029] The storage 140 stores therein a control program for
controlling the units that form the distance measuring system 100.
For example, the storage 140 stores therein vehicle information
such as a total length, a vehicle width, and a vehicle height of
each of the vehicles that are electronically coupled. For example,
the storage 140 stores performance of the vehicle detection unit
110 mounted on each of the vehicles. When the vehicle detection
unit 110 is a camera, the performance of the vehicle detection unit
110 is a focal distance, resolution, frequency response
characteristics, noise, gradation characteristics, dynamic range,
color reproduction, uniformity, geometric distortion, moire,
chromatic aberration, blooming, smear, flare, ghost, compressive
strain, and the like. The storage 140 stores therein a position of
the vehicle detection unit 110 of each of the vehicles in an
electronically coupled vehicle group. The storage 140 may also be
used for temporarily storing data in the distance measuring system
100, and the like. For example, the storage 140 is a semiconductor
memory element such as a random access memory (RAM), a read only
memory (ROM), and a flash memory, or a storage device such as a
hard disk, a solid state drive, and an optical disc. Moreover, the
storage 140 may also be an external storage device wired or
wirelessly connected by a communication unit, which is not
illustrated.
[0030] With reference to FIG. 4, an example of the vehicle
information of the vehicles stored in the storage 140 will be
described. FIG. 4 is a diagram illustrating an example of the
vehicle information of the vehicles stored in the storage 140.
[0031] Vehicle information 300 illustrated in FIG. 4 includes the
vehicle information of the vehicles that are electronically
coupled. For example, with regard to the leader vehicle 11, it is
indicated that the total length is "L1", the vehicle width is "W1",
the vehicle height is "H1", the position of the vehicle detection
unit is at "P1", and the performance of the vehicle detection unit
is "Q1". Although details will be described below, the controller
150 decides a platoon of the vehicles to be electronically coupled
based on the vehicle information.
[0032] The controller 150 controls the units that form the distance
measuring system 100. More specifically, by deploying and executing
the computer program stored in the storage 140, the controller 150
controls the units that form the distance measuring system 100.
Based on the position of the preceding vehicle 21 and the position
of the following vehicle 22 detected by the vehicle detection unit
110 of the leader vehicle 11, and the position of the preceding
vehicle 21 and the position of the following vehicle 22 detected by
the follower vehicle 12, the controller 150 calculates the distance
between the preceding vehicle 21 and the following vehicle 22. For
example, based on the total length of the vehicle coupling system
200 and the distance between the preceding vehicle 21 and the
following vehicle 22, the controller 150 determines whether to
allow the vehicle coupling system 200 to change lanes. For example,
based on the total length of the vehicle coupling system 200 and
the distance between the preceding vehicle 21 and the following
vehicle 22, the controller 150 adjusts the inter-vehicle distance
in the vehicle coupling system 200. For example, based on the
positional relation between the leader vehicle 11, the follower
vehicle 12, the preceding vehicle 21, and the following vehicle 22,
the controller 150 controls the speed of the vehicle coupling
system 200. For example, based on the vehicle information, the
controller 150 decides the convoy of the vehicle coupling system
200. The controller 150 decides the convoy of the vehicle coupling
system 200 according to the performance of the vehicle detection
unit 110. For example, the controller 150 may be implemented by an
electronic circuit including a central processing unit (CPU). The
controller 150 includes a platoon deciding unit 151, an
inter-vehicle distance controller 152, a speed controller 153, a
lane change determining unit 154, and a drive controller 155.
[0033] The platoon deciding unit 151 decides the convoy of the
vehicles to be electronically coupled. More specifically, the
platoon deciding unit 151 decides the position of each of the
vehicles in the vehicle coupling system 200, and the inter-vehicle
distance d1 in the vehicle coupling system 200, based on the
vehicle information 300 stored in the storage 140. In this process,
based on the vehicle information 300, the platoon deciding unit 151
decides the vehicle width of the vehicle having the greatest
vehicle width among the vehicle widths of the vehicles, as the
vehicle width of the vehicle coupling system 200. Based on the
vehicle information 300, the platoon deciding unit 151 decides the
vehicle height of the vehicle having the highest vehicle height
among the vehicle heights of the vehicles, as the vehicle height of
the vehicle coupling system 200. Based on the vehicle information
and the inter-vehicle distance, the platoon deciding unit 151
calculates the total length of the vehicle coupling system 200. For
example, in the example illustrated in FIG. 2, the platoon deciding
unit 151 calculates a total length D1 of the vehicle coupling
system 200 based on the total length of the leader vehicle 11, the
total length of the follower vehicle 12, and the inter-vehicle
distance d1. The platoon deciding unit 151 calculates the position
of the vehicle detection unit 110 of each of the vehicles. It is
preferable that the platoon deciding unit 151 places the vehicle
including the vehicle detection unit 110 with the highest
performance at a top of the platoon, based on the vehicle
information 300. When the vehicle detection unit 110 is a camera,
it is particularly preferable that the platoon deciding unit 151
decides the platoon based on the focal distance of the camera. For
example, when the platoon includes five or more vehicles, and the
performances of the vehicle detection units 110 in the four
vehicles are the same, the platoon deciding unit 151 may decide the
convoy such that a distance in a front-to-rear direction is
measured by the four vehicles, by arranging two vehicles out of the
four vehicles in the front and the remaining two vehicles in the
rear. In other words, when the number of electronically coupled
vehicles is increased, the platoon deciding unit 151 may decide the
convoy by measuring the distance between the preceding vehicle 21
and the following vehicle 22, by using the vehicle detection units
110 having the similar performance among the vehicles.
[0034] The inter-vehicle distance controller 152 controls the
inter-vehicle distance in the vehicle coupling system 200. For
example, in the example illustrated in FIG. 2, the inter-vehicle
distance controller 152 controls the inter-vehicle distance d1
between the leader vehicle 11 and the follower vehicle 12. More
specifically, when a person is driving the vehicle, the
inter-vehicle distance controller 152 outputs a control signal to a
monitor or speaker provided in the vehicle so that an instruction
for reducing or increasing the inter-vehicle distance is displayed
or verbally delivered to the driver. When the vehicle is driven
automatically, the inter-vehicle distance controller 152 outputs a
control signal for accelerating or decelerating the vehicle to the
vehicle to reduce or increase the inter-vehicle distance. Based on
the control signal, the vehicles are controlled to travel at the
predetermined inter-vehicle distance. For example, when the vehicle
detection unit 110 can accurately detect the vehicles in the
adjacent lane by increasing the inter-vehicle distance, the
inter-vehicle distance controller 152 increases the inter-vehicle
distance d1. For example, when the preceding vehicle 21 is present
but the following vehicle 22 is not present, the inter-vehicle
distance controller 152 increases the inter-vehicle distance d1.
For example, when the following vehicle 22 is present but the
preceding vehicle 21 is not present, the inter-vehicle distance
controller 152 reduces the inter-vehicle distance d1. For example,
when the follower vehicle 12 attempts to detect the position of the
preceding vehicle 21, but the position of the preceding vehicle 21
cannot be detected because the leader vehicle 11 is blocking the
preceding vehicle 21, the inter-vehicle distance controller 152
increases the inter-vehicle distance d1. For example, when the
leader vehicle 11 attempts to detect the position of the following
vehicle 22, but the position of the following vehicle 22 cannot be
detected because the follower vehicle 12 is blocking the following
vehicle 22, the inter-vehicle distance controller 152 increases the
inter-vehicle distance d1. For example, when the following vehicle
22 is approaching the follower vehicle 12, and the follower vehicle
12 cannot detect the position of the following vehicle, the
inter-vehicle distance controller 152 reduces the inter-vehicle
distance d1. For example, the inter-vehicle distance controller 152
controls the inter-vehicle distance d1 based on the total length D1
of the vehicle coupling system 200 and the distance L between the
preceding vehicle 21 and the following vehicle 22 that is
calculated by the lane change determining unit 154, which will be
described below. For example, the inter-vehicle distance d1 between
the leader vehicle 11 and the follower vehicle 12 is controlled by
the inter-vehicle distance controller 152, by bringing the follower
vehicle 12 close to the leader vehicle 11, or separating the
follower vehicle 12 from the leader vehicle 11.
[0035] The speed controller 153 controls a speed of each of the
vehicles. More specifically, when a person is driving the vehicle,
the speed controller 153 outputs a control signal to the monitor or
speaker provided in the vehicle so that an instruction for reducing
or increasing the speed is displayed or verbally delivered to the
driver. When the vehicle is driven automatically, the speed
controller 153 outputs a control signal for accelerating or
decelerating the vehicle to the vehicle, to increase or decrease
the speed. Based on the control signal, the vehicle is controlled
to travel at a predetermined speed. For example, even though the
distance L between the preceding vehicle 21 and the following
vehicle 22 is large enough, when the follower vehicle 12 and the
following vehicle 22 are close to each other, the speed controller
153 increases the speed of the vehicles. For example, even though
the distance L between the preceding vehicle 21 and the following
vehicle 22 is large enough, when the leader vehicle 11 and the
preceding vehicle 21 are close to each other, the speed controller
153 reduces the speed of the vehicles. In this example, a case in
which the vehicles are close corresponds to a case in which the
distance between the vehicles is too small to change lanes safely,
for example.
[0036] The lane change determining unit 154 determines whether the
vehicle coupling system 200 can change lanes. More specifically,
the lane change determining unit 154 calculates the distance L
between the preceding vehicle 21 and the following vehicle 22 based
on the position of the preceding vehicle 21 and the position of the
following vehicle 22 detected by the leader vehicle 11 and the
follower vehicle 12 using a triangulation survey. Based on the
total length D1 of the vehicle coupling system 200, and the
distance L between the preceding vehicle 21 and the following
vehicle 22, the lane change determining unit 154 determines whether
the vehicle coupling system 200 can change lanes. When it is
determined that the lane change is possible and when a person is
driving the vehicle, the lane change determining unit 154 outputs
the control signal to the monitor or speaker provided in the
vehicle so that the determined state is displayed or verbally
delivered to the driver. When it is determined that the lane change
is possible by controlling the inter-vehicle distance or
controlling the speed and when the person is driving the vehicle,
the lane change determining unit 154 outputs the control signal to
the monitor or speaker provided in the vehicle so that the
determined state is displayed or verbally delivered to the driver.
When it is determined that the lane change is possible and when the
vehicle is driven automatically, the lane change determining unit
154 outputs the control signal for changing lanes to the drive
controller 155. When it is determined that the lane change is
possible by controlling the inter-vehicle distance and controlling
the speed and when the vehicle is driven automatically, the
inter-vehicle distance controller 152 outputs the control signal
for controlling the inter-vehicle distance to the vehicle, the
speed controller 153 outputs the control signal for controlling the
speed to the vehicle, and then the lane change determining unit 154
outputs the control signal for changing lanes to the drive
controller 155.
[0037] The drive controller 155 drives the vehicle automatically.
More specifically, the drive controller 155 controls the drive of
the follower vehicle 12 so as to follow the leader vehicle 11. The
drive controller 155 causes the vehicles to change lanes according
to the control signal from the lane change determining unit 154.
For example, the drive controller 155 automatically drives the
follower vehicle 12 while the vehicles are traveling, and cancels
the automatic driving when the vehicles are parked at a parking lot
or the like.
[0038] With reference to FIG. 5, an operation to configure the
vehicle coupling system 200 according to the present embodiment
will be described. FIG. 5 is a flowchart illustrating an example of
an operational flow for configuring the vehicle coupling system 200
according to the present embodiment.
[0039] The controller 150 controls the speed of the follower
vehicle 12 constant in accordance with the speed of the leader
vehicle 11 (step S101). The controller 150 then procceeds to step
S102.
[0040] The controller 150 controls the inter-vehicle distance d1
between the leader vehicle 11 and the follower vehicle 12 constant
(step S102). The controller 150 then proceeds to step S103.
[0041] Based on the vehicle information 300 and the inter-vehicle
distance d1, the controller 150 calculates the total length D1 of
the vehicle coupling system 200 (step S103). The controller 150
then proceeds to step S104.
[0042] Based on the vehicle information 300 and the total length D1
of the vehicle coupling system 200, the controller 150 calculates
the position of the vehicle detection unit 110 of the leader
vehicle 11 and the position of the vehicle detection unit 110 of
the follower vehicle 12 in the vehicle coupling system 200 (step
S104). The controller 150 then proceeds to step S105.
[0043] Based on the vehicle information 300, the controller 150
sets the vehicle width of the vehicle having a greater vehicle
width among the leader vehicle 11 and the follower vehicle 12, as
the vehicle width of the vehicle coupling system 200 (step S105).
The controller 150 then proceeds to step S106.
[0044] Based on the vehicle information 300, the controller 150
sets the vehicle height of the vehicle having a higher vehicle
height among the leader vehicle 11 and the follower vehicle 12, as
the vehicle height of the vehicle coupling system 200 (step S106).
The controller 150 then finishes the processes illustrated in FIG.
5.
[0045] With reference to FIG. 6, an operation performed when the
vehicle coupling system 200 intends to change lanes will be
described. FIG. 6 is a flowchart illustrating an example of
processes performed when the vehicle coupling system 200 intends to
change lanes.
[0046] First, the vehicle coupling system 200 detects the position
of the preceding vehicle 21 in the adjacent lane by the leader
vehicle 11 (step S201). More specifically, the vehicle coupling
system 200 detects the position of the preceding vehicle 21 by the
vehicle detection unit 110 of the leader vehicle 11. The vehicle
coupling system 200 then proceeds to step S202.
[0047] The vehicle coupling system 200 detects the position of the
preceding vehicle 21 in the adjacent lane by the follower vehicle
12 (step S202). More specifically, the vehicle coupling system 200
detects the position of the preceding vehicle 21 by the vehicle
detection unit 110 of the follower vehicle 12. For example, the
vehicle coupling system 200 calculates the position of the
preceding vehicle 21 using a triangulation survey, based on an
image captured by the leader vehicle 11 and an image captured by
the follower vehicle 12. Consequently, from a viewpoint of
accurately calculating the position of the preceding vehicle 21, it
is preferable that the distance between the leader vehicle 11 and
the follower vehicle 12 is large. The vehicle coupling system 200
then proceeds to step S203.
[0048] The vehicle coupling system 200 calculates the position of
the preceding vehicle 21, based on the position of the preceding
vehicle 21 detected by the leader vehicle 11 and the position of
the preceding vehicle 21 detected by the follower vehicle 12 (step
S203). More specifically, the vehicle coupling system 200
calculates the position of the preceding vehicle 21 using a
triangulation survey, by the controller 150 of either the leader
vehicle 11 or the follower vehicle 12. The vehicle coupling system
200 then proceeds to step S204.
[0049] The vehicle coupling system 200 detects the position of the
following vehicle 22 in the adjacent lane by the follower vehicle
12 (step S204). More specifically, the vehicle coupling system 200
detects the position of the following vehicle 22 by the vehicle
detection unit 110 of the follower vehicle 12. The vehicle coupling
system 200 then proceeds to step S205.
[0050] The vehicle coupling system 200 detects the position of the
following vehicle 22 in the adjacent lane by the leader vehicle 11
(step S205). More specifically, the vehicle coupling system 200
detects the position of the following vehicle 22 by the vehicle
detection unit 110 of the leader vehicle 11. The vehicle coupling
system 200 then proceeds to step S206.
[0051] The vehicle coupling system 200 calculates the position of
the following vehicle 22 based on the position of the following
vehicle 22 detected by the leader vehicle 11 and the position of
the following vehicle 22 detected by the follower vehicle 12 (step
S206). More specifically, the vehicle coupling system 200
calculates the position of the following vehicle 22 using a
triangulation survey, by the controller 150 of either the leader
vehicle 11 or the follower vehicle 12. The vehicle coupling system
200 then proceeds to step S207.
[0052] The vehicle coupling system 200 calculates the distance L
between the preceding vehicle 21 and the following vehicle 22 based
on the position of the preceding vehicle 21 calculated at step S203
and the position of the following vehicle 22 calculated at step
S206 (step S207). More specifically, the vehicle coupling system
200 calculates the distance L between the preceding vehicle 21 and
the following vehicle 22 by the controller 150 of either the leader
vehicle 11 or the follower vehicle 12. The vehicle coupling system
200 then proceeds to step S208.
[0053] The vehicle coupling system 200 determines whether the lane
change to the adjacent lane is possible (step S208). More
specifically, the vehicle coupling system 200 determines whether
the electronically coupled vehicle group can change lanes, based on
the total length D1 of the vehicle coupling system 200 and the
distance L between the preceding vehicle 21 and the following
vehicle 22, by the controller 150 of either the leader vehicle 11
or the follower vehicle 12. The vehicle coupling system 200 then
proceeds to step S209.
[0054] When it is determined that the lane change is possible (Yes
at step S209), the vehicle coupling system 200 proceeds to step
S210, and changes lanes (step S210). More specifically, the vehicle
coupling system 200 controls the follower vehicle 12 so that the
follower vehicle 12 changes lanes by following the leader vehicle
11, by the controller 150 of the follower vehicle 12. The vehicle
coupling system 200 may also control the leader vehicle 11 so that
the leader vehicle 11 changes lanes depending on the follower
vehicle 12, by the controller 150 of the leader vehicle 11. The
vehicle coupling system 200 then finishes the processes in FIG.
6.
[0055] On the other hand, when it is determined that the lane
change is not possible (No at step S209), the vehicle coupling
system 200 proceeds to step S211, and continues to travel as it is
(step S211). The vehicle coupling system 200 then finishes the
processes in FIG. 6.
[0056] In FIG. 6, when it is determined that the lane change is not
possible, the vehicle coupling system 200 continues to travel as it
is. However, when it is determined that the lane change is not
possible, the vehicle coupling system 200 may also execute an
operation in order to change lanes.
Second Embodiment
[0057] With reference to FIG. 7, an operation of the vehicle
coupling system 200 according to a second embodiment will be
described. When it is determined that the lane change is not
possible, the vehicle coupling system 200 according to the second
embodiment controls the inter-vehicle distance to change lanes.
FIG. 7 is a flowchart illustrating an operational flow for reducing
the inter-vehicle distance when the vehicle coupling system 200
intends to change lanes in a case in which it is determined that
the lane change is not possible.
[0058] First, the vehicle coupling system 200 determines whether
the lane change is possible by reducing the inter-vehicle distance
between the leader vehicle 11 and the follower vehicle 12 (step
S301). More specifically, the vehicle coupling system 200
determines whether the lane change is possible by reducing the
inter-vehicle distance d1, based on the total length D1 of the
vehicle coupling system 200, the inter-vehicle distance d1, and the
distance L between the preceding vehicle 21 and the following
vehicle 22, by the controller 150 of either the leader vehicle 11
or the follower vehicle 12. The vehicle coupling system 200 then
proceeds to step S302.
[0059] When it is determined that the lane change is possible (Yes
at step S302), the vehicle coupling system 200 proceeds to step
S303, and reduces the inter-vehicle distance d1 between the leader
vehicle 11 and the follower vehicle 12 (step S303). For example, by
bringing the follower vehicle 12 close to the leader vehicle 11 by
the controller 150 of the follower vehicle 12, the vehicle coupling
system 200 reduces the inter-vehicle distance d1. The vehicle
coupling system 200 then proceeds to step S305.
[0060] On the other hand, when it is determined that the lane
change is not possible (No at step S302), the vehicle coupling
system 200 proceeds to step S304, and continues to travel as it is
(step S304). In this case, the vehicle coupling system 200 finishes
the processes in FIG. 7.
[0061] The vehicle coupling system 200 changes lanes after reducing
the inter-vehicle distance d1 between the leader vehicle 11 and the
follower vehicle 12 (step S305). The vehicle coupling system 200
then finishes the processes in FIG. 7.
Third Embodiment
[0062] With reference to FIG. 8, an operation of the vehicle
coupling system 200 according to a third embodiment will be
described. The vehicle coupling system 200 according to the third
embodiment controls a speed of the vehicles to change lanes when it
is determined that the lane change is not possible. FIG. 8 is a
flowchart illustrating an operational flow for controlling the
speed when the vehicle coupling system 200 intends to change lanes
in a case in which it is determined that the lane change is not
possible.
[0063] First, the vehicle coupling system 200 determines whether
the lane change is possible by controlling the speed of the leader
vehicle 11 and the follower vehicle 12 (step S401). For example, a
situation will be considered in which the vehicle coupling system
200 cannot change lanes because, although the distance L between
the preceding vehicle 21 and the following vehicle 22 is large
enough, the follower vehicle 12 and the following vehicle 22 are
close to each other. In this case, the vehicle coupling system 200
determines whether the lane change is possible by increasing the
speed by the controller 150 of either the leader vehicle 11 or the
follower vehicle 12. For example, a situation will be considered in
which the vehicle coupling system 200 cannot change lanes because,
although the distance between the preceding vehicle 21 and the
following vehicle 22 is large enough, the leader vehicle 11 and the
preceding vehicle 21 are close to each other. In this case, the
vehicle coupling system 200 determines whether the lane change is
possible by reducing the speed by the controller 150 of either the
leader vehicle 11 or the follower vehicle 12. The vehicle coupling
system 200 then proceeds to step S402.
[0064] When it is determined that the lane change is possible (Yes
at step S402), the vehicle coupling system 200 proceeds to step
S403, and controls the speed of the leader vehicle 11 and the
follower vehicle 12 (step S403). For example, the vehicle coupling
system 200 adjusts the speed by the controller 150 of either the
leader vehicle 11 or the follower vehicle 12. The vehicle coupling
system 200 then proceeds to step S405.
[0065] On the other hand, when it is determined that the lane
change is not possible (No at step S402), the vehicle coupling
system 200 proceeds to step S404, and continues to travel as it is
(step S404). In this case, the vehicle coupling system 200 finishes
the processes in FIG. 8.
[0066] After adjusting the speed of the leader vehicle 11 and the
follower vehicle 12, the vehicle coupling system 200 changes lanes
(step S405). The vehicle coupling system 200 then finishes the
processes in FIG. 8.
[0067] In the above, it is explained that two vehicles are
electronically coupled. However, this explanation is merely an
example, and the present application is not limited thereto. In the
present application, three or more vehicles may also be
electronically coupled.
Fourth Embodiment
[0068] With reference to FIG. 9, a method for measuring the
inter-vehicle distance by a vehicle coupling system 200A according
to a fourth embodiment will be described. The vehicle coupling
system 200A according to the fourth embodiment measures the
inter-vehicle distance by electronically coupling three vehicles.
FIG. 9 is a diagram for explaining a method for measuring the
inter-vehicle distance when three vehicles are electronically
coupled. Because the specific processes of the distance measuring
system 100 is the same as the processes performed when the two
vehicles are electronically coupled, the detailed description
thereof will be omitted.
[0069] In FIG. 9, the leader vehicle 11, the follower vehicle 12,
and an intermediate follower vehicle 13 are electronically coupled
to configure the vehicle coupling system 200A. In this case, the
distance measuring system 100 is mounted on each of the leader
vehicle 11, the follower vehicle 12, and the intermediate follower
vehicle 13.
[0070] In the vehicle coupling system 200A, the intermediate
follower vehicle 13 travels so as to follow the leader vehicle 11
while keeping an inter-vehicle distance d2 from the leader vehicle
11. The follower vehicle 12 travels so as to follow the
intermediate follower vehicle 13 while keeping the inter-vehicle
distance d2 from the intermediate follower vehicle 13.
Consequently, a total length D2 of the vehicle coupling system 200A
is maintained.
[0071] With reference to FIG. 10, processes performed when the
vehicle coupling system 200A intends to change lanes will be
described. FIG. 10 is a flowchart illustrating an example of
processes performed when the vehicle coupling system 200A intends
to change lanes.
[0072] The vehicle coupling system 200A detects the position of the
preceding vehicle 21 in the adjacent lane by the leader vehicle 11
(step S501). The vehicle coupling system 200A then proceeds to step
S502.
[0073] The vehicle coupling system 200A detects the position of the
preceding vehicle 21 in the adjacent lane by the intermediate
follower vehicle 13 (step S502). The vehicle coupling system 200A
then proceeds to step S503.
[0074] Based on the position of the preceding vehicle 21 detected
by the leader vehicle 11 and the position of the preceding vehicle
21 detected by the intermediate follower vehicle 13, the vehicle
coupling system 200A calculates the position of the preceding
vehicle 21 (step S503). The vehicle coupling system 200A then
proceeds to step S504.
[0075] The vehicle coupling system 200A detects the position of the
following vehicle 22 in the adjacent lane by the follower vehicle
12 (step S504). The vehicle coupling system 200A then proceeds to
step S505.
[0076] The vehicle coupling system 200A detects the position of the
following vehicle 22 in the adjacent lane by the intermediate
follower vehicle 13 (step S505). The vehicle coupling system 200A
then proceeds to step S506.
[0077] The vehicle coupling system 200A calculates the position of
the following vehicle 22 based on the position of the following
vehicle 22 detected by the follower vehicle 12 and the position of
the following vehicle 22 detected by the intermediate follower
vehicle 13 (step S506). The vehicle coupling system 200A then
proceeds to step S507.
[0078] The vehicle coupling system 200A calculates the distance L
between the preceding vehicle 21 and the following vehicle 22 based
on the position of the preceding vehicle 21 calculated at step S503
and the position of the following vehicle 22 calculated at step
S506 (step S507).
[0079] The vehicle coupling system 200A determines whether the lane
change to the adjacent lane is possible (step S508).
[0080] When it is determined that the lane change is possible (Yes
at step S509), the vehicle coupling system 200A proceeds to step
S510 and changes lanes (step S510).
[0081] On the other hand, when it is determined that the lane
change is not possible (No at step S509), the vehicle coupling
system 200A proceeds to step S511, and continues to travel as it is
(step S511). The vehicle coupling system 200A then finishes the
processes in FIG. 10.
[0082] When the vehicle widths of the leader vehicle 11, the
follower vehicle 12, and the intermediate follower vehicle 13 are
different from one another, it is preferable to electronically
couple the leader vehicle 11, the follower vehicle 12, and the
intermediate follower vehicle 13 such that the vehicle width of the
intermediate follower vehicle 13 is the greatest. When the
performances of the vehicle detection units 110 in the leader
vehicle 11, the follower vehicle 12, and the intermediate follower
vehicle 13 are different from one another, the platoon may be
changed so that the distance L between the preceding vehicle 21 and
the following vehicle 22 can be measured accurately according to
the performance.
[0083] As described above, in the embodiments, the inter-vehicle
distance can be measured by accurately calculating the positions
(coordinates) of the preceding vehicle and the following vehicle in
the adjacent lane, using a triangulation survey, based on the
captured images of the cameras on the two vehicles that are spaced
apart. Alternatively, when the inter-vehicle distance is measured
by one vehicle, it is sometimes difficult to measure the
inter-vehicle distance accurately. To accurately measure the
inter-vehicle distance by one vehicle, a highly accurate and
expensive device will be needed.
[0084] As described above, in the embodiments, the distance
measuring system is mounted on each of the vehicles that form the
vehicle coupling system. Consequently, it is possible to measure
the distance between the preceding vehicle and the following
vehicle that are traveling in the adjacent lane, and appropriately
execute the control to change lanes according to the measured
distance. Consequently, it is possible to electronically couple
multiple private cars, and allow the coupled vehicles to travel
appropriately.
[0085] Moreover, in the embodiments, the platoon of the multiple
vehicles that form the vehicle coupling system is decided based on
the vehicle information and the like of the multiple vehicles.
Consequently, in the embodiments, even when the vehicle coupling
system is formed by the vehicles with the different total lengths,
the vehicle widths, and the vehicle heights, it is possible to
allow the vehicle coupling system to travel to a destination
appropriately without selecting a road through which a certain
vehicle is unable to travel, for example.
[0086] Furthermore, in the embodiments, it is possible to drive
accurately by electronically coupling the vehicles while placing
the vehicle including a camera with the most excellent performance
at the top.
[0087] Still furthermore, in the embodiments, it is possible to
appropriately drive the vehicles that are electronically coupled,
and accurately measure the distance. Consequently, for example,
when the multiple vehicles are traveling together to the same
destination as a group, an error of arrival time of each of the
vehicles does not occur, and there is no need to wait for other
vehicles to arrive. Still furthermore, in the embodiments, when the
vehicles are electronically coupled and traveling normally, there
is no need to drive at least the follower vehicle. Consequently,
the driver of the first vehicle and the driver of the other
vehicles can take turns driving, and thus the driver can take a
rest and drive safely.
[0088] According to the present application, it is possible to
electronically couple multiple vehicles and allow the multiple
vehicles to change lanes appropriately.
[0089] Although the application has been described with respect to
specific embodiments for a complete and clear disclosure, the
appended claims are not to be thus limited but are to be construed
as embodying all modifications and alternative constructions that
may occur to one skilled in the art that fairly fall within the
basic teaching herein set forth.
* * * * *